Collision avoidance device

Abstract

A collision avoidance device includes an electronic control unit configured to: calculate a deflection angle that is a change angle of a direction of a host vehicle turning in a direction of a blinker in a turn-on state based on a direction of the host vehicle when the host vehicle switches the blinker into the turn-on state; and execute a collision avoidance control for avoiding a collision between the host vehicle and an obstacle in a case where the electronic control unit determines that there is a collision possibility between the host vehicle and the obstacle based on a path of the host vehicle on an intersection and a position of the obstacle, wherein the electronic control unit is configured not to execute the collision avoidance control when the deflection angle is equal to or greater than a deflection angle threshold.

What is claimed is: 
     
       1. A collision avoidance device comprising an electronic control unit configured to:
 calculate a deflection angle that is a change angle of a direction of a host vehicle turning in a direction of a blinker in a turn-on state based on a direction of the host vehicle when the host vehicle switches the blinker into the turn-on state; and 
 execute a collision avoidance control for avoiding a collision between the host vehicle and an obstacle in a case where the electronic control unit determines that there is a collision possibility between the host vehicle and the obstacle based on a path of the host vehicle on an intersection and a position of the obstacle, 
 wherein the electronic control unit is configured not to execute the collision avoidance control when the deflection angle is determined to be equal to or greater than a deflection angle threshold. 
 
     
     
       2. The collision avoidance device according to  claim 1 , wherein
 the electronic control unit is configured to: 
 recognize an intersection angle between a first lane on which the host vehicle is traveling and a second lane that the host vehicle enters; and 
 set the deflection angle threshold based on the intersection angle. 
 
     
     
       3. A collision avoidance device comprising electronic control unit configured to:
 calculate a deflection angle that is a change angle of a direction of a host vehicle turning in a direction of a blinker in a turn-on state based on a direction of the host vehicle at a time when the host vehicle switches the blinker into the turn-on state; and 
 output a signal for executing a collision avoidance control when the deflection angle is determined to be equal to or less than a deflection angle threshold and the electronic control unit determines that there is a collision possibility between a host vehicle and an obstacle based on a path of the host vehicle on an intersection and a position of the obstacle. 
 
     
     
       4. The collision avoidance device according to  claim 3 , wherein the electronic control unit is configured to:
 recognize an intersection angle between a first lane on which the host vehicle travels and a second lane that intersects the first lane to form an intersection and that the host vehicle enters; and 
 set the deflection angle threshold based on the intersection angle. 
 
     
     
       5. The collision avoidance device according to  claim 3 , further comprising an actuator configured to control a behavior of the vehicle,
 wherein the actuator is configured to be driven based on a signal from the electronic control unit. 
 
     
     
       6. The collision avoidance device according to  claim 3 , wherein the electronic control unit is configured to set the deflection angle threshold based on whether an intersection angle, between a first lane on which the host vehicle travels and a second lane that intersects the first lane to form an intersection and that the host vehicle enters, is recognizable by the electronic control unit. 
     
     
       7. The collision avoidance device according to  claim 3 , wherein the electronic control unit is configured to set the deflection angle threshold based on a turn direction of the host vehicle. 
     
     
       8. The collision avoidance device according to  claim 3 , wherein the electronic control unit is configured to set the deflection angle threshold based on a speed of the host vehicle.